version: 66.06
glider: 143
mission: 10
dive: 554
start: 1 5 110 5 8 50
data:
$ID,143
$MISSION,10
$DIVE,554
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,120
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-47790.449
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,050404,6739.181,-5632.181,7,3.1,27,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-65.7
$GPS2,050831,6739.219,-5632.137,10,1.7,10,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.820,-5607.632
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,158.2,20000,-16.9,-9.167
$D_GRID,163
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.47,0.000,2,0.000,0.000,124,2800,3181,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.4,-6.4,19,143,11.60,2.95,-5.82,0.000,4,0.299,0.103,2448,3921,3399,0,0,8,0,0,0
$GC,200,-0.73,-146.0,15.1,-9.2,34,206,0.00,2.72,0.00,0.000,6,0.000,0.061,2448,2798,3400,0,0,7,0,0,0
$GC,544,-0.79,-146.0,47.8,-9.3,95,550,0.00,2.85,0.00,0.000,4,0.000,0.088,2448,3920,3401,0,0,8,0,0,0
$GC,758,-0.84,-146.0,67.7,-9.1,133,764,0.00,2.72,0.00,0.000,6,0.000,0.062,2448,2792,3401,0,0,7,0,0,0
$GC,1103,-0.91,-146.0,96.7,-8.2,194,1109,0.17,2.85,0.00,0.000,4,0.112,0.086,2376,3921,3399,0,0,9,0,0,0
$GC,1284,-0.74,-146.0,117.8,-11.8,213,1290,0.30,2.72,0.00,0.000,6,0.206,0.061,2449,2786,3400,0,0,7,0,0,0
$GC,1610,-0.83,-146.0,145.2,-8.0,243,1615,0.00,2.90,0.00,0.000,4,0.000,0.087,2449,3920,3400,0,0,6,0,0,0
$GC,1796,-0.91,-146.0,159.9,-7.6,259,1801,0.17,2.70,0.00,0.000,6,0.111,0.061,2392,2801,3399,0,0,6,0,0,0
$STATE,1831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1831,begin apogee
$GC,1839,-0.16,0.0,163.9,10.5,262,1959,0.88,0.00,116.28,0.851,6,0.197,0.000,2627,2398,2800,0,0,0,0,0,0
$STATE,1960,end apogee,CONTROL_FINISHED_OK
$STATE,1960,begin climb
$GC,1962,0.73,146.0,166.9,0.0,274,2088,0.98,0.00,118.85,0.803,6,0.146,0.000,2913,2398,2204,0,0,0,0,0,0
$GC,2403,0.78,146.0,129.3,9.5,316,2412,0.00,3.97,0.00,0.000,4,0.000,0.080,2913,3931,2196,0,0,9,0,0,0
$GC,2520,0.78,146.0,116.2,11.8,326,2526,0.00,3.90,0.00,0.000,6,0.000,0.067,2931,2403,2194,0,0,6,0,0,0
$GC,2855,0.78,146.0,79.0,11.0,373,2860,0.00,3.90,0.00,0.000,4,0.000,0.081,2931,3921,2194,0,0,9,0,0,0
$GC,2962,0.66,146.0,65.1,12.8,392,2969,0.17,3.85,0.00,0.000,6,0.208,0.068,2910,2395,2194,0,0,7,0,0,0
$GC,3309,0.79,180.8,34.0,7.7,453,3346,0.12,3.97,28.23,0.742,4,0.128,0.081,2951,3929,2061,0,0,9,0,0,0
$GC,3408,0.67,180.8,22.9,12.8,471,3414,0.25,3.92,0.00,0.000,6,0.196,0.067,2909,2397,2059,0,0,5,0,0,0
$FREEZE,8.63,0.825,-1.852,0,1,0
$FREEZE,8.18,0.821,-1.851,0,1,0
$FREEZE,7.85,0.819,-1.851,0,1,0
$FREEZE,7.30,0.814,-1.851,0,1,0
$FREEZE,7.00,0.806,-1.850,0,1,0
$FREEZE,6.39,0.829,-1.849,0,1,0
$FREEZE,5.71,0.837,-1.849,0,1,0
$FREEZE,5.33,0.826,-1.849,0,1,0
$FREEZE,4.90,0.803,-1.849,0,1,0
$FREEZE,4.48,0.801,-1.848,0,1,0
$FREEZE,3.88,0.816,-1.848,0,1,0
$FREEZE,3.32,0.822,-1.847,0,1,0
$FREEZE,2.91,0.800,-1.847,0,1,0
$FREEZE,2.62,0.804,-1.847,0,1,0
$FREEZE,2.13,0.808,-1.846,0,1,0
$FREEZE,1.63,0.824,-1.846,0,1,0
$STATE,3643,end climb,SURFACE_DEPTH_REACHED
$STATE,3644,begin surface coast
$FREEZE,1.33,0.816,-1.846,0,1,0
$FREEZE,0.69,0.830,-1.845,0,1,0
$FREEZE,0.39,0.867,-1.842,0,1,0
$FREEZE,0.41,1.143,-1.724,0,1,0
$FREEZE,0.49,0.824,-1.059,0,1,0
$FINISH,0.5,1.015651
$STATE,3673,end surface coast,CONTROL_FINISHED_OK
$STATE,3673,begin surface
$SM_CCo,3691,79.95,0.716,0,0,1474,325.02
$SM_GC,1.30,0.00,0.00,79.95,0.000,0.000,0.716,127,2797,1474,-8.01,-0.08,325.02
$RAFOS_CLK,227
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5628.00,010499,040440
$TT8_MAMPS,0.027612
$HUMID,48.46
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.9
$24V_AH,23.0,86.109
$10V_AH,9.9,43.551
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.700,48.100,263.350,79.950,0.000,27.268,29.816,98.859,0.750,0.000,12.057,854.077,1656.585,423.892,832.484,277.196,0.000,886.723,0.000,823.178,0.000,2.618,0.000
$DEVICE_MAMPS,299.130,102.778,850.603,716.378,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.480,348.200,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152528
$DATA_FILE_SIZE,18999,518
$CAP_FILE_SIZE,56880,0
$CFSIZE,260165632,213676032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,105,0,0
$SOUNDSPEED,1459.8
$GPS,050110,061238,6739.379,-5631.397,9,1.1,10,-38.2